Module mavio::protocol

MAVLink protocol

MAVLink protocol abstractions.

We also re-export from mavspec::rust::spec crate to provide a full specification of MAVLink-related types.

Frames

The key MAVLink entity is a Frame, that represents a packet containing message body and additional metadata as specified by MAVLink serialization protocol. Each frame has a header and payload. Frames can be decoded into messages using Frame::decode. To build a frame you need a FrameBuilder that provides an interface for constructing valid frames both manually and from existing messages.

Message Signing

MAVLink 2 protocol is capable of signing frames allowing the receiver to authenticate frame’s sender. To sign a frame you can either use Frame<V2>::add_signature or SigningConf::apply. The latter will sign only MAVLink 2 frames keeping MAVLink 1 frames untouched.

The signing algorithm is split into Sign and Signer. The former is a trait that provides sha256_48, a MAVLink 2 specific hashing algorithm. The latter takes an implementor of Sign and feeds frame data into it. This library provides and implementor of Sign, the MavSha256, for std targets. All no_std targets should implement their own algorithm based on their platform-specific access to random value generators.

Structs

• Behold
  Return type for operations which require attention from the caller.
• CompatFlags
  MAVLink 2 compatibility flags.
• CompatProcessor
  Manages frame compatibility.
• CompatProcessorBuilder
  Builder for CompatProcessor.
• DialectSpec
  ^mavspec Dialect specification.
• Endpoint
  MAVLink device with defined ID and internal frame sequence counter.
• Frame
  MAVLink frame.
• FrameBuilder
  Builder for Frame.
• Header
  MAVLink frame header.
• HeaderBuilder
  Builder for Header.
• HeaderBytes
  Represents Header encoded as a sequence of bytes.
• IncompatFlags
  MAVLink 2 incompatibility flags.
• MavLinkId
  MAVLink device ID.
• MavTimestamp
  A 48-bit timestamp used for MAVLink 2 packet signing.
• MessageInfo
  ^mavspec Generic information about MAVLink message.
• Payload
  ^mavspec MAVlink message payload.
• SecretKey
  MAVLink 2 signature secret key.
• Sequencer
  Incremental MAVLink frame sequence.
• Signature
  MAVLink 2 packet signature.
• Signer
  Frame signer.
• SigningConf
  Message signing configuration for Frame.
• Unset
  A marker for generic types that specifies a variant of something being not specified.
• V1
  Marks entities which are strictly MAVLink 1 protocol compliant.
• V2
  Marks entities which are strictly MAVLink 2 protocol compliant.
• Versionless
  Marker for entities which are not constrained by a specific MAVLink protocol version.

Enums

• CompatStrategy
  Defines, how to process compatibility and incompatibility flags.
• MavFrame
  Version-agnostic MAVLink frame, that can be matched according to its protocol version.
• MavLinkVersion
  ^mavspec MAVLink protocol version.
• MavSTX
  Packet start marker.

Traits

• Dialect
  ^mavspec Interface for autogenerated or custom MAVLink dialect specification.
• IntoCompatProcessor
  A trait for entities, that can be converted to CompatProcessor.
• IntoPayload
  ^mavspec MAVLink message encoder.
• IntoSequencer
  Converts value into a Sequencer.
• MaybeVersioned
  ^🔒 Marks structures which may or may not have a specified MAVLink protocol version.
• Message
  ^mavspec MAVLink message implementation.
• MessageSpec
  ^mavspec Generic MAVLink message specification.
• Sign
  Interface for MAVLink 2 frames signing algorithm.
• UpdateFrame
  ^⚠ Implementors of this trait can update frame data in-place.
• UpdateFrameUnsafe
  ^⚠ This trait should be implemented in order to use UpdateFrame trait and update frames in-place.
• Versioned
  ^🔒 Marks entities which have a specified MAVLink protocol version.

Type Aliases

• Checksum
  MAVLink packet checksum.
• ComponentId
  MAVLink component ID.
• CrcExtra
  ^mavspec MAVLink extra CRC byte.
• DialectId
  ^mavspec Type used to contain dialect identifier specified in MAVLink XML definitions.
• DialectVersion
  ^mavspec Type used to contain minor dialect version specified in MAVLink XML definitions.
• HeaderV1Bytes
  MAVLink 1 header as array of bytes.
• HeaderV2Bytes
  MAVLink 2 header as array of bytes.
• MessageId
  ^mavspec MAVLink message ID regardless of protocol.
• PayloadLength
  Payload length.
• Sequence
  Packet sequence number.
• SignatureBytes
  MAVLink 2 signature as array of bytes.
• SignatureTimestampBytes
  MAVLink 2 signature timestamp.
• SignatureValue
  MAVLink 2 signature value.
• SignedLinkId
  MAVLink 2 signed link ID.
• SystemId
  MAVLink system ID.